A theoretical model to predict performance of integrated robotic systems

Abstract

With modularized architecture, integrated solutions can be configured by selecting and assembling a set of selected off-the-shelf functional modules to satisfy users’ needs optimally. While the attributes and properties of these modules are validated at components levels, the performances of system can be affected greatly by integration and interactions. Existing methodologies on system integration focus on system architecture, hardware and software reuses, communications, interfaces, and interoperation. There is the need to develop effective verification and validation (V&V) methods to assure the first-time-right from a virtual model to physical model in terms of the composability of system components to predict the performance of an integrated systems; note that not all attributes of composability can be verified by self-adaptability of cyber-physical systems. In this paper, we will focus on V&V of integrated robotic systems, and we will explore the relations of an integrated system with its components in terms of some performance criteria including functionalities, responsiveness, accuracy, and repeatability. The problem itself is newly formulated, and it is crucial for designers to predict and optimize system performance based on the selection and assemblage of system modules. The work in this paper opens new field of research in standardizing verification and validation process in designing collaborative robot systems